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Kinematics analysis and control of a three-fingered metamorphic robot hand

Research output: Chapter in Book/Report/Conference proceedingConference paper

Matteo Calzati, Ketao Zhang, Vincenzo Parenti Castelli, Jian S. Dai

Original languageEnglish
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5B-2016
ISBN (Print)9780791850169
DOIs
Publication statusPublished - 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: 21 Aug 201624 Aug 2016

Conference

ConferenceASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period21/08/201624/08/2016

King's Authors

Abstract

This paper presents the kinematics analysis of a three-fingered metamorphic hand (Metahand) and the LabView based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method. Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with LabView software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three-fingered Metahand.

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